\section*{\large Yaml configuration file description}
\begin{normalsize}

It is self explanatory.

\begin{verbatim}
# number of rows in world_map
rows: 10 #3

# number of cols in world_map
cols: 5 #3

# dynamic_map
dynamic_map: false

# Legend:
# map matrix is enumerated in top down row order, where:
# empty_value = 0;
# start_value = -1;
# goal_value = 1;
# obstacle_value = -2;

# sample scenario 3x3
#world_map: [ -1, 0, 0, 
              0, -2, 0, 
              0, 0, 1 ]

# demo scenario 10x5
world_map: [ 0, 0, 0, 0, 0, 
             0, -2, 1, -2, 0, 
             0, -2, -2, 0, 0, 
             0, 0, 0, 0, -2, 
             -2, -2, 0, 0, -2, 
             0, 0, 0, 0, 0, 
             0, -2, -2, -2, 0, 
             0, -2, -1, -2, 0, 
             0, -2, 0, 0, 0, 
             0, 0, 0, 0, 0 ] 
\end{verbatim}
\end{normalsize}